Optimal performance trade-offs in repetitive control: Experimental validation on an active air bearing setup

In repetitive control, the Bode sensitivity integral dictates a fundamental trade-off between improved suppression of periodic disturbances and degraded performance for non-periodic inputs. This paper experimentally demonstrates the implications of this trade-off by applying a recently developed systematic repetitive control design approach to an active air bearing setup. This design methodology translates the fundamental trade-off into trade-off curves between a non-periodic and periodic performance index, of which the practical relevance is illustrated by the obtained experimental results.